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<div class="title">normal_3d_kernels.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id: normal_3d.h 1370 2011-06-19 01:06:01Z jspricke $</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_CUDA_NORMAL_3D_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_CUDA_NORMAL_3D_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/cuda/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>cuda</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_normal_estimation_kernel.html">   51</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_normal_estimation_kernel.html">NormalEstimationKernel</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr &lt;const PointCloudAOS &lt;Storage&gt; &gt; CloudConstPtr;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_normal_estimation_kernel.html">NormalEstimationKernel</a> (<span class="keyword">const</span> boost::shared_ptr &lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS &lt;Storage&gt;</a> &gt; &amp;input, <span class="keywordtype">float</span> focallength, <span class="keywordtype">float</span> sqr_radius, <span class="keywordtype">float</span> sqrt_desired_nr_neighbors)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        : points_ (thrust::raw_pointer_cast(&amp;input-&gt;points[0]))</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        , focallength_ (focallength)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        , search_ (input, focallength, sqr_radius)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        , sqr_radius_(sqr_radius)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        , sqrt_desired_nr_neighbors_ (sqrt_desired_nr_neighbors)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      {}</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">inline</span> __host__ __device__</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      float4 operator () (float3 query_pt)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <a class="code" href="structpcl_1_1cuda_1_1_covariance_matrix.html">CovarianceMatrix</a> cov;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordtype">int</span> nnn = 0;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordflow">if</span> (!isnan (query_pt.x))</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          nnn = </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          search_.computeCovarianceOnline (query_pt, cov, sqrt_desired_nr_neighbors_);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          <span class="keywordflow">return</span> make_float4(query_pt.x);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <a class="code" href="structpcl_1_1cuda_1_1_covariance_matrix.html">CovarianceMatrix</a> evecs;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        float3 evals;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="comment">// compute eigenvalues and -vectors</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordflow">if</span> (nnn &lt;= 1)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          <span class="keywordflow">return</span> make_float4(0);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">eigen33</a> (cov, evecs, evals);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="comment">//float curvature = evals.x / (evals.x + evals.y + evals.z);</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">float</span> curvature = evals.x / (query_pt.z * (0.2f / 4.0f) * query_pt.z * (0.2f / 4.0f));</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        float3 mc = normalize (evecs.data[0]);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="comment">// TODO: this should be an optional step, as it slows down eveything</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="comment">// btw, this flips the normals to face the origin (assumed to be the view point)</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">if</span> ( dot (query_pt, mc) &gt; 0 )</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          mc = -mc;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordflow">return</span> make_float4 (mc.x, mc.y, mc.z, curvature);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> *points_;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">float</span> focallength_;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <a class="code" href="classpcl_1_1cuda_1_1_organized_radius_search.html">OrganizedRadiusSearch&lt;CloudConstPtr&gt;</a> search_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordtype">float</span> sqr_radius_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keywordtype">float</span> sqrt_desired_nr_neighbors_;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    };</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_fast_normal_estimation_kernel.html">   99</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_fast_normal_estimation_kernel.html">FastNormalEstimationKernel</a></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_fast_normal_estimation_kernel.html">FastNormalEstimationKernel</a> (<span class="keyword">const</span> boost::shared_ptr &lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS &lt;Storage&gt;</a> &gt; &amp;input, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        : points_ (thrust::raw_pointer_cast(&amp;input-&gt;points[0])), width_(width), height_(height)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {}</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> __host__ __device__</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      float4 operator () (<span class="keywordtype">int</span> idx)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        float3 query_pt = points_[idx];</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">if</span> (isnan(query_pt.z))</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keywordflow">return</span> make_float4 (0.0f,0.0f,0.0f,0.0f);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">int</span> xIdx = idx % width_;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">int</span> yIdx = idx / width_;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="comment">// are we at a border? are our neighbor valid points?</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">bool</span> west_valid  = (xIdx &gt; 1)         &amp;&amp; !isnan (points_[idx-1].z) &amp;&amp;      fabs (points_[idx-1].z - query_pt.z) &lt; 200;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordtype">bool</span> east_valid  = (xIdx &lt; width_-1)  &amp;&amp; !isnan (points_[idx+1].z) &amp;&amp;      fabs (points_[idx+1].z - query_pt.z) &lt; 200;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordtype">bool</span> north_valid = (yIdx &gt; 1)         &amp;&amp; !isnan (points_[idx-width_].z) &amp;&amp; fabs (points_[idx-width_].z - query_pt.z) &lt; 200;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordtype">bool</span> south_valid = (yIdx &lt; height_-1) &amp;&amp; !isnan (points_[idx+width_].z) &amp;&amp; fabs (points_[idx+width_].z - query_pt.z) &lt; 200;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        float3 horiz, vert;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">if</span> (west_valid &amp; east_valid)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          horiz = points_[idx+1] - points_[idx-1];</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">if</span> (west_valid &amp; !east_valid)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          horiz = points_[idx] - points_[idx-1];</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordflow">if</span> (!west_valid &amp; east_valid)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          horiz = points_[idx+1] - points_[idx];</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">if</span> (!west_valid &amp; !east_valid)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          <span class="keywordflow">return</span> make_float4 (0.0f,0.0f,0.0f,1.0f);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">if</span> (south_valid &amp; north_valid)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          vert = points_[idx-width_] - points_[idx+width_];</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordflow">if</span> (south_valid &amp; !north_valid)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          vert = points_[idx] - points_[idx+width_];</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span> (!south_valid &amp; north_valid)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          vert = points_[idx-width_] - points_[idx];</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keywordflow">if</span> (!south_valid &amp; !north_valid)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keywordflow">return</span> make_float4 (0.0f,0.0f,0.0f,1.0f);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        float3 normal = cross (horiz, vert);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keywordtype">float</span> curvature = length (normal);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        curvature = fabs(horiz.z) &gt; 0.04 | fabs(vert.z) &gt; 0.04 | !west_valid | !east_valid | !north_valid | !south_valid;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        float3 mc = normalize (normal);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordflow">if</span> ( dot (query_pt, mc) &gt; 0 )</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          mc = -mc;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">return</span> make_float4 (mc.x, mc.y, mc.z, curvature);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> *points_;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">int</span> width_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordtype">int</span> height_;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    };</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_normal_deviation_kernel.html">  157</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_normal_deviation_kernel.html">NormalDeviationKernel</a></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr &lt;const PointCloudAOS &lt;Storage&gt; &gt; CloudConstPtr;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <a class="code" href="structpcl_1_1cuda_1_1_normal_deviation_kernel.html">NormalDeviationKernel</a> (<span class="keyword">const</span> boost::shared_ptr &lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS &lt;Storage&gt;</a> &gt; &amp;input, <span class="keywordtype">float</span> focallength, <span class="keywordtype">float</span> sqr_radius, <span class="keywordtype">float</span> sqrt_desired_nr_neighbors)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        : points_ (thrust::raw_pointer_cast(&amp;input-&gt;points[0]))</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        , focallength_ (focallength)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        , search_ (input, focallength, sqr_radius)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        , sqr_radius_(sqr_radius)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        , sqrt_desired_nr_neighbors_ (sqrt_desired_nr_neighbors)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      {}</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Tuple&gt;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">inline</span> __host__ __device__</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      float4 operator () (Tuple &amp;t)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        float3 query_pt = thrust::get&lt;0&gt;(t);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        float4 normal = thrust::get&lt;1&gt;(t);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <a class="code" href="structpcl_1_1cuda_1_1_covariance_matrix.html">CovarianceMatrix</a> cov;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        float3 centroid;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordflow">if</span> (!isnan (query_pt.x))</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          centroid = search_.computeCentroid (query_pt, cov, sqrt_desired_nr_neighbors_);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="keywordflow">return</span> make_float4(query_pt.x);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordtype">float</span> proj = normal.x * (query_pt.x - centroid.x) / sqrt(sqr_radius_) + </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                     normal.y * (query_pt.y - centroid.y) / sqrt(sqr_radius_) + </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                     normal.z * (query_pt.z - centroid.z) / sqrt(sqr_radius_) ; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="comment">//return make_float4 (normal.x*proj, normal.y*proj, normal.z*proj, clamp (fabs (proj), 0.0f, 1.0f));</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordflow">return</span> make_float4 (</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;           (centroid.x - query_pt.x) / sqrt(sqr_radius_) ,</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;           (centroid.y - query_pt.y) / sqrt(sqr_radius_) ,</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;           (centroid.z - query_pt.z) / sqrt(sqr_radius_) ,</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;           0);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> *points_;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordtype">float</span> focallength_;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <a class="code" href="classpcl_1_1cuda_1_1_organized_radius_search.html">OrganizedRadiusSearch&lt;CloudConstPtr&gt;</a> search_;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordtype">float</span> sqr_radius_;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordtype">float</span> sqrt_desired_nr_neighbors_;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    };</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  } <span class="comment">// namespace</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="preprocessor">#endif  </span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_organized_radius_search_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_organized_radius_search.html">pcl::cuda::OrganizedRadiusSearch&lt; CloudConstPtr &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">pcl::cuda::PointCloudAOS</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:134</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_covariance_matrix_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_covariance_matrix.html">pcl::cuda::CovarianceMatrix</a></div><div class="ttdoc">misnamed class holding a 3x3 matrix</div><div class="ttdef"><b>Definition:</b> point_cloud.h:51</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_fast_normal_estimation_kernel_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_fast_normal_estimation_kernel.html">pcl::cuda::FastNormalEstimationKernel</a></div><div class="ttdef"><b>Definition:</b> normal_3d_kernels.h:100</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_normal_deviation_kernel_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_normal_deviation_kernel.html">pcl::cuda::NormalDeviationKernel</a></div><div class="ttdef"><b>Definition:</b> normal_3d_kernels.h:158</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_normal_estimation_kernel_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_normal_estimation_kernel.html">pcl::cuda::NormalEstimationKernel</a></div><div class="ttdef"><b>Definition:</b> normal_3d_kernels.h:52</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">pcl::cuda::PointXYZRGB</a></div><div class="ttdoc">Default point xyz-rgb structure.</div><div class="ttdef"><b>Definition:</b> point_types.h:50</div></div>
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